Robust Sim2Real Transfer with the da Vinci Research Kit: A Study On Camera, Lighting, and Physics Domain Randomization
Author:
Affiliation:
1. University of Toronto,Department of Computer Science,Canada
2. The Wilfred and Joyce Posluns CIGITI,SickKids,Toronto,Canada
Funder
Natural Sciences and Engineering Research Council of Canada (NSERC)
Publisher
IEEE
Link
http://xplorestaging.ieee.org/ielx7/9981026/9981028/09981573.pdf?arnumber=9981573
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1. Bimanual Regrasping for Suture Needles using Reinforcement Learning for Rapid Motion Planning
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3. Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones
4. Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms
5. Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans
Cited by 3 articles. 订阅此论文施引文献 订阅此论文施引文献，注册后可以免费订阅5篇论文的施引文献，订阅后可以查看论文全部施引文献
1. Suturing Tasks Automation Based on Skills Learned from Demonstrations: A Simulation Study;2024 International Symposium on Medical Robotics (ISMR);2024-06-03
2. Sim2Real Rope Cutting With a Surgical Robot Using Vision-Based Reinforcement Learning;IEEE Transactions on Automation Science and Engineering;2024
3. Learning Nonprehensile Dynamic Manipulation: Sim2real Vision-Based Policy With a Surgical Robot;IEEE Robotics and Automation Letters;2023-10
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